Computer Simulations and Comparisons of Jerk-Level Cyclic Motion Planning and Control for CRRM

摘要

In this paper, a jerk-level cyclic motion planning and control (CMPC) scheme is presented to remedy the joint drift phenomenon of the constrained redundant robot manipulators (CRRM). Furthermore, the path-tracking simulations are presented to substantiate the effectiveness and accuracy of the jerk-level CMPC scheme. Comprehensive and detailed comparisons between the presented jerk-level CMPC scheme and other existing schemes [i.e., the Jacobian pseudo-inverse based (JPIB) scheme, the minimum jerk norm (MJN) scheme and the acceleration-level cyclic motion planning (ALCMP) scheme] illustrate that the presented CMPC scheme resolved at jerk level is superior and more applicable.